14. Applications

14.1. Robot Packing

Under the “Applications” -> “Tool App” menu bar, click the “Robot Packing” button to enter the one-click robot packing interface.

Important

Before operating the packing function, please confirm the robot’s surrounding environment and status to prevent collisions.

If leaving the factory, first go to System Settings -> General Settings and perform a factory reset before packing.

Step1: Before moving to the packing point, first move the robot to the zero point.

Step2: Click the “Move to Zero Point” button, confirm the robot’s mechanical zero point is correct, and ensure the gaps in each joint are aligned as shown in the orange circles in the figure.

Step3: Click the “Move to Packing Point” button, the robot will move to the packing point according to the axis angles specified in the packaging process.

Figure 14.1‑1 One-Click Robot Packing

14.2. Data Backup

1. Under the menu bar of “Auxiliary Applications” -> “Tool Applications”, click “Data Backup” to enter the data backup interface, as shown in the figure below.

Figure 14.2‑1 Data Backup Interface

2. The backup package data includes tool coordinate system data, system configuration files, teaching point data, user programs, template programs, and user configuration files. When users need to transfer data from this robot to another robot for use, this function can be used to achieve it quickly.

14.2.1. Backup Package Integrity Verification Function

To avoid potential security risks caused by inconsistent configurations such as installation methods during the import of backup packages, an MD5 verification function for backup packages and a verification function for key parameters have been added during backup package import.

14.2.1.1. Backup Package MD5 Verification Function

To ensure the integrity of the imported backup package, an MD5 verification will be performed on the backup package after upload. If the backup package is corrupted or abnormally modified, the MD5 verification will fail, and the following prompt will be displayed:

Figure 14.2‑2 MD5 Verification Failed

14.2.1.2. Backup Package Key Parameter Verification Function

A verification function has been added during backup package import. The backup package must be compared with the target robot for key parameters, as detailed in the table below. Inaccurate settings of these parameters may pose certain security risks. Only when they are completely identical can the backup package be imported normally.

Table of 5 Key Parameters for Comparison:

If they are inconsistent, an error will be prompted. At this point, it is necessary to check whether the key parameters in the robot to be imported are consistent with those in the backup package.

Figure 14.2‑3 When Key Parameters Are Inconsistent, the Interface Will Prompt an Error

14.2.1.3. Failure/Power Failure Exception Rollback Function

If an exception occurs during the import of the backup package, or if there is an abnormal power failure during data recovery, causing the data recovery to fail to complete normally, to ensure the normal operation of the equipment, the system will automatically revert to the state before the operation after power is restored.

After power is restored, the interface will prompt, “Previous data recovery was not completed and has been automatically reverted. Please restart the control box and try again.”

Figure 14.2‑4 Power Failure Restart Restore Warning Prompt

14.3. 10s Data Recording

Under the “Applications” -> “Tool App” menu bar, click “10s Data Recording” to enter the 10s data recording function interface.

First, select the recording type, which is divided into default parameter recording and self-selected parameter recording. Default parameter recording uses system-automated settings for the recorded data. For self-selected parameter recording, users can choose the parameters to record, with a maximum of 15 parameters. After selecting the parameter list, choose the parameters to record and click the “Move Right” button to add the parameters to the parameter list. Click “Start Recording” for the robot to begin recording data, click “Stop Recording” for the robot to stop recording data, and click “Download Data” to download the last 10 seconds of data.

Figure 14.3‑1 10s Data Recording

14.4. End-Effector LED

Under the “Applications” -> “Tool App” menu bar, click “End-Effector LED” to enter the end-effector LED color configuration function interface.

The LED color can be configured to green, blue, or white-cyan. Users can configure the LED color for Auto mode, Manual mode, and Drag mode according to their needs. Different modes cannot be configured with the same color.

Figure 14.4‑1 End-Effector LED Configuration

14.5. Drag Locking

Under the “Applications” -> “Tool App” menu bar, click “Drag Locking” to enter the drag teaching lock configuration function interface.

A degree-of-freedom locking function has been added for drag teaching. When the drag teaching function switch is set to enable, the degree-of-freedom parameters take effect when the user drags the robot. For example, when the parameters are set to X:10, Y:0, Z:10, RX:10, RY:10, RZ:10, dragging the robot in drag mode restricts movement to only the Y direction. If you need to keep the robot’s posture unchanged during dragging and only move in the X, Y, Z directions, set X, Y, Z to 0 and RX, RY, RZ to 10.

Figure 14.5‑1 Drag Teaching Lock Configuration

14.5.1. Normal Collision Protection Triggering Under Force Sensor Assisted Dragging

14.5.1.1. Overview

Currently, FR robots cannot trigger collision protection under force sensor assisted dragging. This enhancement adds the capability to trigger collision protection during force sensor assisted dragging, increasing robot safety and reducing operational risks.

14.5.1.2. Collision Protection

Step1: Click “Applications” -> “Tool App” -> “Drag Locking” to enter the Force Sensor Assisted Locking configuration interface. Set the “Status Switch” and “Collision Detection” to ON, as shown below.

Figure 14.5‑2 Configuring Force Sensor Assisted Locking

Step2: Drag the robot. During robot movement, apply external force to the joints to trigger collision protection. The web interface will report the error “Force Sensor Assisted Dragging Collision Fault”, and you can quickly resume/disable force sensor assisted dragging via the web interface, as shown. Click “Resume” to clear the error and resume force sensor assisted dragging; click “Disable” to clear the error and keep force sensor assisted dragging disabled.

Figure 14.5‑3 Collision Triggered Under Force Sensor Assisted Dragging

Note

Under force sensor assisted dragging, the robot itself is in a stopped state. During dragging, there is a difference between the joint torque command and feedback. It is recommended to set the collision level to level 7 or higher. Setting the collision level too low may cause false collision errors during dragging.